US7652621B2 - Method for automatically selecting radionavigation beacons - Google Patents
Method for automatically selecting radionavigation beacons Download PDFInfo
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- US7652621B2 US7652621B2 US12/066,503 US6650306A US7652621B2 US 7652621 B2 US7652621 B2 US 7652621B2 US 6650306 A US6650306 A US 6650306A US 7652621 B2 US7652621 B2 US 7652621B2
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- beacons
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- beacon
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/78—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted discriminating between different kinds of targets, e.g. IFF-radar, i.e. identification of friend or foe
- G01S13/785—Distance Measuring Equipment [DME] systems
Definitions
- the field of the invention is that of navigation systems serving aboard an aircraft, to determine the position of the aircraft on the basis of measurements of distance separating the aircraft from radionavigation beacons delivered by equipment of the DME type (English acronym for Distance Measuring Equipment). It relates more particularly to a method of selecting a pair of radionavigation beacons from among a list of eligible beacons that is implemented in such a navigation system.
- distance measuring equipment of the DME type is usually used as an aid to aerial navigation, both en route and during approaches.
- the function of such equipment is to provide, on interrogation, the distance which separates an aircraft from a ground station (also called a transponder or radionavigation beacon) whose position is known.
- Such equipment operates as follows: the aircraft carries an interrogator which interrogates the ground station.
- the interrogation message consists of a pair of VHF pulses whose spacing and carrier frequency are defined by the ICAO (International Civil Aviation Organization), depending on the type of DME and its location which are known to the transponder.
- ICAO International Civil Aviation Organization
- the response also takes the form of a pair of pulses of defined spacing and carrier frequency, emitted with a likewise defined delay, the whole being fixed by the standards of the ICAO and therefore known to the interrogator.
- the interrogator of the aircraft receives and recognizes this response it deduces the distance which separates it from the transponder from the duration of the outward-return journey of the pulses.
- the terrestrial surface of the globe is meshed by a more or less dense network of beacons.
- the position of these beacons is known and stored in a database onboard the aircraft. At each instant, only a small number of these beacons is accessible to the aircraft to provide it with a distance measurement, one speaks of eligible beacons.
- the measurement of the altitude of the aircraft by distance measuring equipment of the DME type is inaccurate because of the ground position of the beacons, this is the reason why the aircraft altitude measurement is carried out, in general, by some other means as for example, an anemo-barometric probe.
- the locating of the aircraft by the distance measuring equipment of the DME type amounts, when the measurements are carried out with an infinitely large accuracy, to a two-dimensional problem that can be solved by virtue of measurements of distance separating the aircraft from two beacons.
- FIG. 1 Represented in FIG. 1 is the principle of locating the aircraft on the terrestrial surface, by making the assumption of a two-dimensional world: a measurement of the distance separating the aircraft from a first beacon (B X ) projected onto the terrestrial surface equals dlm X , and a measurement of the distance separating the aircraft from a second beacon (B Y ) projected onto the ground equals dlm Y .
- the intersection of the circle of radius dlm X centered on the position of the beacon B X and of the circle of radius dlm Y centered on the position of the beacon B Y provides an estimation of the 2D terrestrial position of the aircraft PTEA.
- the 2D terrestrial position of an object or point is defined as the location of the object or point in a terrestrial reference frame, which is not necessarily plane, when its altitude is considered to be zero.
- the 2D terrestrial position can for example be expressed in the form of a longitude value and a latitude value.
- the accuracy of a distance measurement delivered by a beacon is not infinite. It is possible to show that, in the case where N distance measurements of identical accuracy (with N greater than or equal to two) are carried out simultaneously employing N beacons, the accuracy of the estimation of the 2D terrestrial position of the aircraft increases with the number of beacons employed (N), when the beacons are positioned in an optimal manner.
- the optimal positions of the beacons correspond to arrangements where the angles between the geodesics relating the 2D terrestrial position of the aircraft and the 2D terrestrial positions of the N beacons used are close to ⁇ /N radians.
- the duration required in order to choose an optimal configuration comprising a number (greater than or equal to two and not fixed a priori) of beacons from among a number of eligible beacons which may exceed about forty is prohibitive.
- the estimation of the 2D terrestrial position of the aircraft at an instant t 2 implements a method of selecting a pair of beacons which searches for, on the basis of the knowledge of the 2D terrestrial position of the aircraft at an instant t 1 prior to t 2 and of the position information for the beacons, contained in the database, the pair of beacons whose measurements of the distances which separate them from the aircraft are capable of producing the most accurate estimation of the 2D terrestrial position of the aircraft at this instant.
- the beacons making up the pair are those which have a 2D terrestrial position such that the angle ( ⁇ ) formed by the geodesics connecting the 2D terrestrial position of the aircraft to the 2D terrestrial positions of each of the beacons used is closest to ⁇ /2 radians.
- This method has the advantage of providing, at any instant, a measurement of the 2D terrestrial position of the aircraft which is the most accurate achievable with two beacons.
- the selection criterion that the method uses exhibits the drawback, when the selection method is implemented in a repeated manner, of producing a frequent change of one or more selected beacons, for example in the case of the aircraft overflying a terrestrial zone dense with beacons.
- a beacon modification requires a duration of initialization, that may be up to five seconds, which is related to a change of carrier frequency of the message emitted by the interrogator and this duration of initialization reduces the availability of the estimation of the 2D terrestrial position of the aircraft.
- modifying the pair of selected beacons is detrimental to the continuity of the position estimation of the aircraft over time since it disturbs the setting up of processing operations allowing estimation of the biases of the beacons.
- a prior art solution consists in reducing the frequency of implementing the selections of the pairs of beacons by triggering the beacon selections on the basis of a criterion for modifying the current pair of selected beacons.
- the modification criterion can be, for example, fixing a floor value of the accuracy of the position estimation. This accuracy can, itself, be estimated by means of evaluating the angle ⁇ .
- a beacon selection is retained so long as the evaluation of the accuracy of the estimation of the aircraft position carried out by means of the pair of selected beacons indicates that it has a value greater than the floor value.
- a significant aim of the invention is therefore to alleviate this drawback. More precisely, it is intended to avoid frequent changes of selected beacons by modifying on the one hand the criterion considered for selecting the beacons, which should no longer be based only on the accuracy of the position estimation of the aircraft at a given instant but also on the capacity to retain a beacon selection over the most extended possible flight duration, by introducing on the other hand, a criterion for modifying the selection of the beacons.
- the aim pursued is therefore to favor a choice of a pair of beacons making it possible to ensure a given position estimation accuracy, over the most extended possible duration of aircraft flight.
- a method for selecting radionavigation beacons using an onboard navigation system aboard an aircraft from a list of eligible beacons (B 1 , . . . , B n ) at an instant t 2 , a position A(t 1 ) taken by the aircraft in a reference frame tied to the Earth at an instant t 1 prior to t 2 being known, a projection of the position of the aircraft onto the 2D terrestrial globe according to the vertical to the aircraft being designated as the 2D terrestrial position of the aircraft, the eligible beacons being arranged on the terrestrial surface at known positions which are stored in a database with which the aircraft is equipped, a domain of employment of an eligible beacon B i defining a set of 2D terrestrial positions of the aircraft corresponding to positions of the aircraft for which a measurement of distance separating the aircraft and the beacon B i is relevant, an employment zone Z X,Y ( ⁇ , t 1 ) of a pair of eligible beacons (B X , B Y ) being defined by an intersection between the
- the method comprises a step for formulating a criterion for selecting a pair of beacons (B X , B y ) from among the beacons forming part of the list of eligible beacons, and in that the selection criterion is based on a search for a maximum duration of membership, for instants subsequent to the instant t 1 , for which the 2D terrestrial position of the aircraft belongs to the zones of employment of all the pairs of beacons achievable from among the eligible beacons, on the basis of a given predefined trajectory of the aircraft.
- This method makes it possible to select a pair of beacons providing distance measurements which allow accurate estimation of the 2D terrestrial position of the aircraft while guaranteeing stability of the selection which benefits the continuity of the estimation.
- this method leads to a thirty percent reduction in the modifications for selecting the choice of beacon with respect to a prior art method employing a selection criterion based on searching for maximum accuracy in the estimation of the position and a criterion for modifying the selection of the beacon pair triggering a new selection based on an accuracy floor.
- FIG. 1 already described, schematically represents the principle of estimating a 2D terrestrial position of an aircraft on the basis of two distance measurements delivered by a pair of radionavigation beacons;
- FIG. 2 represents an exemplary employment domain for a beacon placed on the terrestrial surface
- FIG. 3 represents a zone of employment of a beacon pair (B X , B Y ) and explains parameters occuring in the implementation of a method of selecting a pair of beacons according to the invention
- the entirety of the beacons meshing the terrestrial surface is not usable at any moment by an interrogator placed on an aircraft in flight.
- a first condition of use of a beacon is dictated by the “visual” accessibility of the beacon from the aircraft at an instant t 2 . Only a beacon situated under the horizon, seen from the aircraft, is considered to be accessible. This preliminary selection is carried out on the basis of the knowledge of a position of the aircraft A (t 1 ) arising from an estimation at an instant t 1 prior to t 2 and of the positions of the beacons which are stored in a database onboard the aircraft.
- the positions of the beacons and of the aircraft can be expressed, for example, in the form of a altitude, 2D terrestrial position doublet.
- the altitude of the aircraft determined as has been seen by a different means from the distance measuring equipment, makes it possible to access the angle ( ⁇ HOR ) between a vertical axis Z A passing through the position of the aircraft and the direction from which the horizon is seen. It is possible additionally to evaluate a value of the angle ( ⁇ i ) separating the axis Z A and the direction of a straight line connecting the position of the aircraft A (t 1 ) to the position of the beacon B i where i designates a beacon index. When the value of the angle ⁇ i is less than that of the angle ⁇ HOR , the beacon B i forms part of the accessible beacons.
- a second condition of use of the beacons can be imposed by a pilot of the aircraft who on his own authority can exclude one or more beacons from the list of accessible beacons.
- a radionavigation beacon arranged on the terrestrial surface possesses a limited employment domain.
- a first type of limitation of a beacon's domain of employment relates to an operability defect of the beacon when an interrogator is situated in proximity to a vertical axis passing through the beacon. This limitation, known by the name “cone of confusion”, conveys the fact that the distance measurements delivered by a beacon are considered to be unusable, because they are too inaccurate, when the interrogator is close to the vertical of the beacon.
- the beacon B i is usable by an interrogator carried by an aircraft on condition that the value of the angle formed by ZB i a vertical axis passing through the position of the beacon B i and an axis connecting the position of the aircraft and the position of the beacon B i is greater than a fixed angle ⁇ cdc that may be equal, for example, to ⁇ /6 radians.
- ⁇ cdc This same limitation expressed this time viewed from above is illustrated by FIG. 2 b .
- the characteristics of the cones of confusion of all the beacons are, for example, stored in the database.
- a second type of limitation of the employment domain relates to maximum distances beyond which the beacon B i is no longer usable.
- These limitations are of a regulatory nature, they stem from the technical characteristics of the beacons, described by “ Figure Of Merit” (FOM) and class parameters, or else flight safety parameters in the form of a “Required Navigation Performance” (RNP) indicator whose value is assigned by the air traffic control authority to the pilot.
- the values of the parameters of the beacons are stored in the database.
- This type of limitation gives rise to a maximum distance D Max (B i ) beyond which an interrogator can no longer use the beacon B i .
- D Max B i
- no distinction is made between the employment limitations related to the technical characteristics of a beacon and those related to the “visual” accessibility of the beacon for assigning a value to the parameter D Max (B i ).
- a definition of the domain of employment of a beacon depends on the technical characteristics of the beacon and in that the technical characteristics are stored in a database with which the aircraft is equipped.
- the database meets the ARINC 424 standard.
- the beacon employment limitations define an employment domain about the position of each beacon.
- the domain of employment of each beacon B i is, for example, a part of the ground delimited by two circles of radii D Min (B i ) and D Max (B i ). If the distance gap separating a 2D terrestrial position of an aircraft and a beacon B i is less than D Max (B i ) and greater than D Min (B i ), the beacon B i can deliver distance measurements that may contribute to the estimation of a 2D terrestrial position of the aircraft, in the converse case, the beacon B i cannot be used by the aircraft.
- the definition of a domain of employment of a beacon depends on an aircraft position.
- a beacon selection method determines, from among the beacons referenced in the database onboard the aircraft, those whose employment domain contains the 2D terrestrial position of the aircraft: these are the eligible beacons. Subsequently, the method selects, from among the eligible beacons, a pair of beacons (B X , B Y ) whose 2D terrestrial positions minimize a merit factor ⁇ position .
- the merit factor ⁇ position evaluates the accuracy of a 2D terrestrial position estimation of an aircraft on the basis of two distance measurements carried out by virtue of a pair of beacons (B X , B Y ) with identical accuracy ⁇ . It is possible to show that:
- ⁇ position ⁇ ⁇ 2 ( sin ⁇ ( ⁇ ⁇ ⁇ ⁇ ) ) 2
- ⁇ is the angle formed by the straight lines connecting the 2D terrestrial position of the aircraft and the 2D terrestrial positions of the beacons B X and B y .
- This selection criterion is aimed at selecting a beacon pair solely on the basis of the accuracy with which the 2D terrestrial position estimation is performed at a given instant. Practically, this selection criterion amounts to selecting the beacons B X and B Y which are arranged in such a way that ⁇ is the closest to ⁇ /2 radians, since this value of ⁇ minimizes the value of ⁇ position .
- the measurement of distance between the aircraft and the beacon is therefore not immediately available after selecting a new beacon pair. If selection modifications occur frequently, the duration of initialization of the communications can become of the same order as that during which a 2D terrestrial position estimation of the aircraft is actually delivered. There is therefore a requirement to devise a new beacon selection criterion which takes into account the temporal stability of the selection of the beacons and favors it.
- a new criterion can be expressed by means of a distance, separating, at a given moment, the aircraft from the boundaries of an employment zone consisting of the intersection of the domains of employment of a pair of selected beacons.
- distance defines the value of the shortest distance separating the 2D terrestrial position of the aircraft from one of the points constituting the boundary of the employment zone.
- FIG. 3 makes it possible to represent the quantities coming into play in such a criterion: the 2D terrestrial position of the aircraft 10 is represented by a triangle, the position of two beacons B X and B Y is represented by two diamonds. About the 2D terrestrial position of each beacon, stored in the database onboard the aircraft, an employment domain is delimited, as in FIG. 2 , which is delimited by two circles of radius D Min (B i ) and D Max (B i ). A zone of employment of the pair of beacons (B X , B Y ) is defined as the intersection of the employment domains of the beacons B X and B Y selected by the aircraft.
- the employment zone Z X,Y ( ⁇ , t 1 ), at the instant t 1 is then restricted (hatched zone in FIG. 3 ) to the loci of the 2D terrestrial positions of an aircraft consisting of the intersection of the employment domains of the selected beacons and of the loci where the 2D terrestrial position of the aircraft corresponds to ⁇ > ⁇ .
- the aircraft has a 2D terrestrial position belonging to the employment zone Z X,Y ( ⁇ , t 1 )
- the accuracy of the estimation of its 2D terrestrial position carried out by virtue of the selected beacons is less than
- ⁇ is the accuracy of the measurement of distances leading to the aircraft 2D terrestrial position estimation.
- the criterion for selecting a pair of beacons can be expressed as selecting a pair of beacons (B X , B Y ) with a view to maximizing the duration necessary for the aircraft to exit the employment zone Z X,Y ( ⁇ , t 1 ), a speed of the aircraft being given.
- This criterion can also be expressed in distance terms, in this case one seeks to maximize the distance separating the 2D terrestrial position of the aircraft from the boundaries of the employment zone Z X,Y ( ⁇ , t 1 ).
- This search is done on the basis of the knowledge of A(t 1 ) and of the 2D terrestrial positions of the beacons stored in the database onboard the aircraft, it is carried out independently of the searches done on the basis of the past and future positions of the aircraft.
- a list of eligible beacons and their respective employment domain are defined, and for each beacon pair (B X , B Y ) the distance D X,Y ( ⁇ , t 1 ) following a predefined trajectory of the aircraft is evaluated, so as to choose the pair of beacons (B X , B Y ) corresponding to a maximum value of D X,Y ( ⁇ , t 1 ).
- This embodiment can make it possible to very substantially reduce (up to 30%) the number of different beacon pairs selected for a given trajectory of the aircraft with respect to a prior art method.
- r i (t) The distance, along the terrestrial surface, separating the 2D terrestrial position of the beacon B i and the 2D terrestrial position of an aircraft A(t), at the instant t, is defined by r i (t).
- r i (t) is a distance estimated on the basis of the knowledge of A(t) and of the 2D terrestrial positions of beacons, it is calculated according to a terrestrial model, for example, the WGS4 terrestrial model.
- dist X,Y ( ⁇ , ⁇ , t) defines the function which associates with a beacon pair (B X , B Y ), a 2D terrestrial position of the aircraft at the instant t, and an angle ⁇ , a distance such that:
- ⁇ is the angle formed by axes connecting the 2D terrestrial position of the aircraft and the 2D terrestrial position of the beacons B X and B Y and where ⁇ is a desired minimum value for ⁇ .
- the minimum distance D X,Y ( ⁇ , t 1 ) separating the position of the aircraft from the boundaries of the employment zone Z X,Y ( ⁇ , t 1 ) can be defined as the minimum value of (d1 X x(t 1 ), d2 Y (t 1 ), d3 X (t 1 ), d4 Y (t 1 ), d5 X,Y ( ⁇ ,t 1 ), d6 X,Y ( ⁇ , t 1 )).
- This first embodiment can be presented in the form of a second approach in which the predefined trajectory consists of a rectilinear motion of predefined nonzero speed V, from the 2D terrestrial position A(t 1 ) taken by the aircraft at the date t 1 to a position of a point B belonging to the boundary of the employment zone Z X,Y ( ⁇ , t 1 ), the position of the point B on the boundary minimizing the distance separating A(t 1 ) and positions of the points of the boundary of the employment zone Z X,Y ( ⁇ , t 1 ).
- the selection of the pair of beacons is carried out on the basis of assumptions on the 2D terrestrial position taken by the aircraft in the instants following t 1 .
- This embodiment leads to the evaluation, for each possible employment zone, defined by a pair of beacons from among the eligible beacons and a value of an angle ⁇ , of the duration required for the 2D terrestrial position of the aircraft to exit the zone of employment of the relevant pair of selected beacons.
- Various assumptions about the predefined trajectory of the aircraft can be envisaged:
- the predefined trajectory consists in prolonging the motion of the aircraft at the instant t 1 by a uniform rectilinear motion.
- the predefined trajectory is determined on the basis of data featuring in a flight plan onboard the aircraft.
- the two embodiments of the method make it possible to evaluate, for each pair of beacons, the duration on completion of which the 2D terrestrial position of the aircraft exits the zone of employment of the selected pair of beacons.
- the selection criterion is aimed at selecting the beacon pair corresponding to the duration of membership in the employment zone having the maximum value.
- the method according to the invention comprises a step for selecting a pair of beacons according to the selection criterion.
- This modification criterion can for example be based on a comparison of the distance D X,Y ( ⁇ , t 1 ) separating the 2D terrestrial position of the aircraft A(t 1 ) at the instant t 1 from the employment zone Z X,Y , ( ⁇ , t 1 ) defined by the beacon pair (B X , B Y ) selected, for a predefined value of ⁇ , with the distances separating the 2D terrestrial position of the aircraft A(t 1 ) from all the possible employment zones defined on the basis of the eligible pairs of beacons, for a constant value of the angle ⁇ , at the instant t 1 .
- beacon selection modification criterion is homogeneous with the beacon selection criterion, it is also possible to express it by employing durations rather than distances.
- T x,y ( ⁇ , t 1 ) a duration of membership for which the 2D terrestrial position of the aircraft belongs to the employment zone Z X,Y ( ⁇ , t 1 ), on the basis of the 2D terrestrial position that the aircraft occupies at t 1 , when the aircraft follows the given predefined trajectory of the aircraft.
- the method according to the invention comprises a step for formulating a criterion for modifying the selection of the pair of beacons (B X , B Y ), and in that the modificatin criterion is based on a comparison of the value of T(t 1 ) and of the product k.T X,Y ( ⁇ , t 1 ), when T(t 1 ) is the maximum duration of membership in the zones of employment of all possible pairs from among the eligible beacons except for the pair (B X , B Y ), on the basis of the 2D terrestrial position of the aircraft at the instant t 1 , by following the predefined trajectory of the aircraft, and k is a parameter whose value is predefined.
- the method according to the invention comprises:
- the method according to the invention implements two parameters ( ⁇ , k) whose values are predefined and make it possible to adjust the dynamic operation of the method while favoring the accuracy of the estimation (value of ⁇ close to ⁇ /2 radians) or else the stability of the selection of the beacons (values of k close to 0).
- the values of k and of ⁇ are adapted, over time, as a function of the value of the “Required Navigation Performance” (RNP) of the trajectory followed by the aircraft.
- RNP Required Navigation Performance
Abstract
Description
where Δθ is the angle formed by the straight lines connecting the 2D terrestrial position of the aircraft and the 2D terrestrial positions of the beacons BX and By. This selection criterion is aimed at selecting a beacon pair solely on the basis of the accuracy with which the 2D terrestrial position estimation is performed at a given instant. Practically, this selection criterion amounts to selecting the beacons BX and BY which are arranged in such a way that Δθ is the closest to π/2 radians, since this value of Δθ minimizes the value of σposition.
where σ is the accuracy of the measurement of distances leading to the aircraft 2D terrestrial position estimation.
d1X (t)=D Max (B X)−r X (t)
d2Y (t)=D Max (B Y)−r Y (t)
d3X (t)=r X (t)−D Min (B X)
d4Y (t)=r Y (t)−D Min (B Y)
d5X,Y (θ, t)=distX,Y (2θ, θ, t)−distX,Y (0, θ, t)
d6X,Y (θ, t)=distX,Y (0, θ, t)−distX,Y (−2θ, θ, t)
-
- a step for evaluating, according to the modification criterion, the modification of the pair of beacons (BX, BY);
- when the value of k.TX,Y (θ, t1) is less than the value of T(t1), a step for making a new selection of a beacon pair according to the selection criterion.
Claims (20)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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FR0511256A FR2893144B1 (en) | 2005-11-04 | 2005-11-04 | AUTOMATIC SELECTION METHOD OF RADIONAVIGATION BEACONS |
FR0511256 | 2005-11-04 | ||
PCT/EP2006/067556 WO2007051712A1 (en) | 2005-11-04 | 2006-10-18 | Method for automatically selecting radio navigation beacons |
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US20080252511A1 US20080252511A1 (en) | 2008-10-16 |
US7652621B2 true US7652621B2 (en) | 2010-01-26 |
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US12/066,503 Expired - Fee Related US7652621B2 (en) | 2005-11-04 | 2006-10-18 | Method for automatically selecting radionavigation beacons |
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US (1) | US7652621B2 (en) |
EP (1) | EP1943540B1 (en) |
AT (1) | ATE452347T1 (en) |
CA (1) | CA2616300C (en) |
DE (1) | DE602006011202D1 (en) |
FR (1) | FR2893144B1 (en) |
WO (1) | WO2007051712A1 (en) |
Cited By (4)
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US20080103644A1 (en) * | 2003-12-16 | 2008-05-01 | Garmin International, Inc. | Method and system for using database and gps data to linearize vor and ils navigation data |
US20080297397A1 (en) * | 2003-12-16 | 2008-12-04 | Garmin International, Inc. | Method and system for using a database and gps position data to generate bearing data |
US20090066560A1 (en) * | 2007-06-22 | 2009-03-12 | Airbus France | Method and device for simulating radio navigation instruments |
US20110227788A1 (en) * | 2010-03-16 | 2011-09-22 | David Lundgren | Method and system for generating and propagating location information by a mobile device using sensory data |
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US8618984B2 (en) * | 2010-03-19 | 2013-12-31 | Microsoft Corporation | Selecting beacons for location inference |
CN110135425B (en) * | 2018-02-09 | 2021-02-26 | 北京世纪好未来教育科技有限公司 | Sample labeling method and computer storage medium |
FR3088443B1 (en) * | 2018-11-13 | 2022-03-11 | Thales Sa | aircraft navigation method and system |
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- 2005-11-04 FR FR0511256A patent/FR2893144B1/en not_active Expired - Fee Related
-
2006
- 2006-10-18 EP EP06807387A patent/EP1943540B1/en active Active
- 2006-10-18 US US12/066,503 patent/US7652621B2/en not_active Expired - Fee Related
- 2006-10-18 AT AT06807387T patent/ATE452347T1/en not_active IP Right Cessation
- 2006-10-18 WO PCT/EP2006/067556 patent/WO2007051712A1/en active Application Filing
- 2006-10-18 DE DE602006011202T patent/DE602006011202D1/en active Active
- 2006-10-18 CA CA2616300A patent/CA2616300C/en not_active Expired - Fee Related
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080103644A1 (en) * | 2003-12-16 | 2008-05-01 | Garmin International, Inc. | Method and system for using database and gps data to linearize vor and ils navigation data |
US20080297397A1 (en) * | 2003-12-16 | 2008-12-04 | Garmin International, Inc. | Method and system for using a database and gps position data to generate bearing data |
US8059030B2 (en) | 2003-12-16 | 2011-11-15 | Garmin Switzerland Gmbh | Method and system for using a database and GPS position data to generate bearing data |
US20090066560A1 (en) * | 2007-06-22 | 2009-03-12 | Airbus France | Method and device for simulating radio navigation instruments |
US7898467B2 (en) * | 2007-06-22 | 2011-03-01 | Airbus France | Method and device for simulating radio navigation instruments |
US20110227788A1 (en) * | 2010-03-16 | 2011-09-22 | David Lundgren | Method and system for generating and propagating location information by a mobile device using sensory data |
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FR2893144B1 (en) | 2007-12-21 |
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